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#1
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Re: Gear Ratios
First, I would reccomend being cautious when designing a system to be used in a game we havn't seen yet. There may be obstacles on the field that a 4" wheel cannot pass (like the steps in '04). Additionally, you may find that, depending on the field size/shape, you may desire a different speed/torque output than you were previously planning. You may want to use motors that would be allocated to the drive motors, or the steering motors elsewhere on the robot, like the manipulator. Also, I'd be wary about using a high traction wheel in a swerve drive system. The very nature of the system recquires you to counter-act the traction of your wheels in order to be able to turn, so you may wear down the tread relatively quickly, and will need more power to turn the wheels than when using a lower traction design.
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#2
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Re: Gear Ratios
I'm saying actual speed. The motor specs say that 5310 rpm (+/- 10%) is the free speed. The normal load is at 4320 rpm.
This year, our robot went roughly 10fps and I had no problems controlling it at full speed. We had no sensor or feedback either. Live axles are actually easier to do with crab drive in my opinion. I'll look into dead axles, but hey what ever works best I'll do. Well, the whole point of this is a summer project. If next year's game has obstacles, I'll change up the configuration to use 6" or 8" wheels, or not use crab. I just want to get a prototype so we can give the programmers something to do, holonomic drive practice (i know its not the same as Mecanum or omni but its the same general concept), and to look into if its worth implementing on a robot. I've already thought about if we need a small CIM for another apparatus. We either go to 3 crab modules or use two Fischer prices. Also, we have too many steering motors to choose from as it is. So we can easily integrate a globe or a window or a vandor in really quickly with minimal headaches. I plan on using 1" w, 4" d IFI wheels. There shouldn't me much of a problem turning. If we go with 3 modules, it'll be even easier to turn because there will be an independently controller wheel. Thanks for your concerns and I hope that with your help, I can put together a monster crab drive. |
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